Now we need to generate the text file. For this, we use the associate.py tool from
the RGB-D benchmark website. We need to run it twice, as we join the
camera poses, the depth image list and the color image list into a single file:

Running the code

After some debugging output on the console, a window with a 3D viewer should open. To start the
reconstruction process, press "S".

If you run the program for the first time, press and hold the CTRL key and turn your scroll wheel.
This is only needed once to "free" the camera viewpoint. After this, you can pan (right click) and
rotate (left click) the view as you wish using your mouse.